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<pre><span class="sourceLineNo">001</span>package org.triplehelix.lib.pid;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.PIDOutput;<a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span>/**<a name="line.5"></a>
<span class="sourceLineNo">006</span> * Holds the output from the PID controller for later retrieval.<a name="line.6"></a>
<span class="sourceLineNo">007</span> * @author robotics<a name="line.7"></a>
<span class="sourceLineNo">008</span> */<a name="line.8"></a>
<span class="sourceLineNo">009</span>public class GenericPIDOutput implements PIDOutput {<a name="line.9"></a>
<span class="sourceLineNo">010</span>    <a name="line.10"></a>
<span class="sourceLineNo">011</span>    private double power;<a name="line.11"></a>
<span class="sourceLineNo">012</span><a name="line.12"></a>
<span class="sourceLineNo">013</span>    /**<a name="line.13"></a>
<span class="sourceLineNo">014</span>     * Store the calculated PID output.<a name="line.14"></a>
<span class="sourceLineNo">015</span>     * @param d The calculated PID output.<a name="line.15"></a>
<span class="sourceLineNo">016</span>     */<a name="line.16"></a>
<span class="sourceLineNo">017</span>    public void pidWrite(double d) {<a name="line.17"></a>
<span class="sourceLineNo">018</span>        power = d;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    }<a name="line.19"></a>
<span class="sourceLineNo">020</span>    <a name="line.20"></a>
<span class="sourceLineNo">021</span>    /**<a name="line.21"></a>
<span class="sourceLineNo">022</span>     * Retrieve the latest calculated PID output.<a name="line.22"></a>
<span class="sourceLineNo">023</span>     * @return The latest calculated PIT output.<a name="line.23"></a>
<span class="sourceLineNo">024</span>     */<a name="line.24"></a>
<span class="sourceLineNo">025</span>    public double getOutput() {<a name="line.25"></a>
<span class="sourceLineNo">026</span>        return power;<a name="line.26"></a>
<span class="sourceLineNo">027</span>    }<a name="line.27"></a>
<span class="sourceLineNo">028</span>}<a name="line.28"></a>




























































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